CN1148448A - Method for starting permanent magnet synchronous motor with rotational position detector, and motor controller - Google Patents
Method for starting permanent magnet synchronous motor with rotational position detector, and motor controller Download PDFInfo
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- CN1148448A CN1148448A CN96190170A CN96190170A CN1148448A CN 1148448 A CN1148448 A CN 1148448A CN 96190170 A CN96190170 A CN 96190170A CN 96190170 A CN96190170 A CN 96190170A CN 1148448 A CN1148448 A CN 1148448A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A rotational position detector which generates pulse trains of A- and B-phases having a 90-degree phase difference between them and C-phase pulses at a rate of one pulse per rotation is fitted to a permanent magnet synchronous motor, the position where the C-phase pulses are generated agree with the origin of the magnetic pole of a permanent magnet. A motor controller drives a current control loop by an AC current command having a fixed amplitude and a low frequency after the turn-on of the power supply at the initial stage before normal motor drive, supplies an alternating current having a low frequency to the synchronous, motor rotates the rotor of the motor at a low speed from a stop position, detects that a magnetic pole criterion is reached when the controller detects a C-phase pulse, and then determines the rotational angle of the magnetic pole of the rotor, using the numbers of the A- and B-phase pulses counted in accordance with the rotation of the rotor.
Description
Technical field
The present invention relates to a kind of startup method that is equipped with the permagnetic synchronous motor of an Angular Displacement Detecting device, this permagnetic synchronous motor comprises a rotor of realizing driving as magnetic pole with permanent magnet; An angular range detector, be installed on the permagnetic synchronous motor rotatable shaft, and have A mutually and B mutually the pulse train generating means be used for producing several A phase and B pulse mutually at each rotation period, 90 ° of the phase phasic differences each other of its electrical degree, and the home pulse sequence generating device is used for each rotation period and produces a home pulse.
Background technology
Up to now, permagnetic synchronous motor as AC servomotor, by provide drive current to make the rotor rotation to stator winding, this drive current basis is installed in the position of epitrochanterian permanent magnet, and has certain phase relation between the magnetic flux of this permanent magnet generation.Before the rotor rotation, must detect the position of permanent magnet.For satisfying this requirement, a kind of magnetic pole detector and a kind of encoder that is used as the angular range detector are installed on the permagnetic synchronous motor.
Fig. 1 is the front view that has the permanent magnet synchronous motor of encoder and magnetic azimuth detector.Fig. 2 is the motor control assembly block diagram that is used to control permagnetic synchronous motor.
Encoder (angular range detector) 300 and magnetic pole detector 400 are installed on the permagnetic synchronous motor 200.Encoder 300, magnetic pole detector 400, permagnetic synchronous motor 200 and motor control assembly 100A have constituted the permagnetic synchronous motor system together.Encoder 300 is fixed on the rotatable shaft of permagnetic synchronous motor 200, and in each rotation period, the A that produces 90 ° of phase phasic differences each other mutually with B pulse and produce a home pulse mutually.
Motor control assembly 100A produces main circuit 110 and control circuit 120A.
Main circuit 110 comprises that a transducer 111 is used for alternating current is converted to direct current and exports this direct current, a flat wave capacitor device 112 is used for the output DC stream of transducer 111 is carried out smoothing processing, and an inverter 113 is implemented excitation according to the control signal from control circuit 120A to permagnetic synchronous motor 200.
Control circuit 120A comprises and is used in the future by a speed detector 121 signal transformation of own coding device 300 is rate signal; A speed control 122 is according to output signal SR and speed command SS from speed detector 121, speed to permagnetic synchronous motor is implemented control, an angle signal detector 123A is used to detect an angle signal that is used for current-order from the signal of encoder 300 and magnetic pole detector 400 with generation, a current command generator 124 generates a current-order according to the output signal of speed control 122 and the output signal of angle signal detector 123A, a current detector 125, and a current controller 126 is used for according to this current-order with from the detected signal of current detector 125 electric current of inverter 113 being implemented control.
If permagnetic synchronous motor is installed in the main shaft drives unit of lathe or electric automobile, so owing to the restriction of motor mounting space, the size of necessary reduction angular range detector.Yet legacy system needs 2 azimuth detecting apparatus, i.e. encoder and magnetic pole detector, and connect the alternation device and encoder equally also is many holding wires of inverter and magnetic pole detector, cause the complicated of layout thus.
Once having repeatedly trial to save the magnetic pole detector need not.Japan Patent discloses No. 197586/1994 and has showed a kind of motor control assembly, has wherein just saved the magnetic pole detector.Yet because memory be measured and be deposited in to the deviation between encoder starting point and the rotor magnetic pole reference axis must, therefore, this disclosed motor control assembly measures owing to above-mentioned deviation and the use of memory has improved cost.And above-mentioned open just not have after the motor control assembly unlatching in some way rotor do special explanation until the necessity of the starting point that arrives at encoder.
Summary of the invention
One of the object of the invention, be to propose a kind of method that starts permagnetic synchronous motor and have a device less, that control than the permagnetic synchronous motor of simple detector and lesser amt holding wire a kind of, needn't measure the deviation between encoder starting point and the rotor magnetic pole reference axis in order to detect magnetic pole, will single motor angular range detector starting point yet and the magnetic pole reference axis between angular displacement deposit memory in, just can make rotor rotation without the magnetic pole detector.
The permagnetic synchronous motor system comprises: permagnetic synchronous motor, and its rotor is realized driving as magnetic pole with permanent magnet; An angular range detector, be installed on the permagnetic synchronous motor rotating shaft and have A mutually and B mutually the pulse train generating means be used for producing several A phase and B-pulse mutually at each rotation period, 90 ° of the phase phasic differences each other of its electrical degree, and the home pulse sequence generating device is used for producing home pulse at each rotation period; A motor control assembly has speed control loop and current control circuit and is used to encourage permagnetic synchronous motor.According to the present invention, the method that starts permagnetic synchronous motor in a kind of like this electromagnetism synchronous motor system may further comprise the steps:
The said angular range detector that has the home pulse sequence generating device is installed, so that the magnetic pole reference axis of rotor permanent magnet coincide mutually with the position that home pulse produces;
Behind the energized voltage, in starting stage before permagnetic synchronous motor runs well, low-frequency alternating current-order with constant amplitude, said current control circuit is operated, the alternating current of low frequency is offered permagnetic synchronous motor, so that the rotor of permagnetic synchronous motor is got up with low speed rotation by static thus; And
Detect the arrival of home pulse at magnetic pole reference axis place, and use detecting home pulse after to A phase and B mutually pulse be synchronized with the angular displacement that count value that the rotor rotation counting obtains is come the detection rotor magnetic pole.
Owing on the permagnetic synchronous motor Angular Displacement Detecting device is installed, make that the home pulse sequence generating device is exported a home pulse when the rotor magnetic pole reference axis that presets reaches the predetermined angle of stator, therefore, after assembling, the deviation between the starting point that needn't the diagonal displacement detector and the magnetic pole reference axis of rotor is measured.According to the current-order that results from motor control assembly, rotation is equipped with the permagnetic synchronous motor of Angular Displacement Detecting device, and after detecting home pulse, according to correct magnetic pole reference axis permagnetic synchronous motor is implemented control.So,, also do not need the magnetic pole detector, so cost has obtained reduction owing to lacking such deviation memory and magnetic pole detector owing to neither need to be used for the deviation memory of home pulse magnetic pole reference axis.
Preferably, in the starting stage, rotor connects in response to AC power or the extra order signal begins rotation.And, in the starting stage, rotor is along a direction or reversibly begin rotation along relative direction, said home pulse is by repeated detection, thus, the accuracy of detection of the start position that is used to detect position of magnetic pole is improved, perhaps preferably home pulse is detected, with the position of detection magnetic pole reference axis, and then the angular displacement of correction rotor magnetic pole.Even also can carry out during the normal rotation of the rotor of these operations after detecting start position.
According to the present invention, introduced another kind of method, in order to start the permagnetic synchronous motor in the permagnetic synchronous motor system.This electric system comprises: permagnetic synchronous motor, its rotor is realized driving as magnetic pole with permanent magnet: an angular range detector, be installed on the permagnetic synchronous motor rotating shaft, and have A mutually and B mutually the pulse train generating means be used for producing several A phase and B pulse mutually at each rotation period, 90 ° of the phase phasic differences each other of its electrical degree, and the home pulse sequence generating device is used for producing home pulse at each rotation period; A motor control assembly has speed control loop and current controlled circuit with the excitation permagnetic synchronous motor.Said method may further comprise the steps:
Mounting strap has the said angular range detector of said home pulse sequence generating device, so that the magnetic pole reference axis of rotor permanent magnet coincide mutually with the position that home pulse produces;
Behind the energized voltage, the starting stage before permagnetic synchronous motor runs well, for starting permagnetic synchronous motor, the angular displacement signal that will be used for current-order offers current command circuit with predetermined angle in each presets the unit interval; By will represent each preset rate signal that the angle in the unit interval changes as the instruction that is used for speed control to the speed control circuit implementation and operation, so that thus the amplitude of said current-order is controlled; Make said motor control assembly that the low-frequency alternating electric current is offered permagnetic synchronous motor, so that the rotor that makes permagnetic synchronous motor thus is by static low speed rotation; And
At magnetic pole reference axis place, detect the arrival of home pulse, the angular displacement signal that will be used for this current-order converts the angular displacement signal of another current-order to, and back one angular displacement signal is by adopting this home pulse position to make starting point, rotate the count value generation of synchronously A being counted mutually mutually gained with B with rotor; And the instruction that will be used for speed control changes predetermined speed command into, so that thus to the permagnetic synchronous motor implementation and operation.
Preferably, in the starting stage, in response to providing of AC power or extra order signal, rotor promptly begins rotation.
Even the position of magnetic pole is not detected, motor also can rotate in open-loop, and the home pulse of diagonal displacement detector detects to determine the reference axis of magnetic pole.So, need not the magnetic pole detector starter motor reposefully still.
Can provide direct current in preset time in the section with arbitrarily angled from the moment that begins to detect the magnetic pole reference axis, after this, after in permagnetic synchronous motor, producing angle signal, according to angular displacement signal, a low-frequency alternating electric current can be provided for permagnetic synchronous motor, and permagnetic synchronous motor can steadily rotate, till the home pulse that detects from the Angular Displacement Detecting device.
According to the present invention, a kind of device that has a speed control circuit and a current control circuit is used for control: permagnetic synchronous motor, and its rotor is realized driving as magnetic pole with permanent magnet; The angular range detector, be installed on the permagnetic synchronous motor rotatable shaft, and have A mutually and B mutually the pulse train generating means be used for producing several A phase and B pulse mutually at each rotation period, 90 ° of the phase phasic differences each other of its electrical degree, and in order in each rotation period, to produce the home pulse sequence generating device of a home pulse.Assembling angular range detector is when reaching the predetermined angle of stator for the magnetic pole reference axis at rotor, to export a home pulse.This device comprises:
A main circuit and a control circuit;
Said main circuit comprises: a transducer is used for alternating current is converted to direct current and exports this direct current; A flat wave capacitor device is used for the output DC stream of transducer is carried out smoothing processing; And an inverter, be used to encourage permagnetic synchronous motor;
Said control circuit comprises: speed detector, and to be used for the signal transformation from said angular range detector be rate signal and export this rate signal; Speed control unit according to said rate signal and speed command, is implemented control to the speed of permagnetic synchronous motor; The angle signal checkout gear, be used to generate angular displacement signal as current-order, this angular displacement signal be by when a home pulse from the angular range detector is output with the position of this home pulse as the magnetic pole reference axis utilization of rotor to A mutually and B mutually pulse be synchronized with counting that rotor rotates count value form; The first current-order generating means, the output signal that provides according to the output signal that is provided by said speed control unit and angle signal checkout gear generates a current-order, and utilize when after this during permagnetic synchronous motor rotation, detecting home pulse thereafter to A mutually and B mutually pulse be synchronized with the counting gained count value that rotor rotates, angular displacement to the permanent-magnetic synchronous motor rotor magnetic pole detects, and exports a magnetic pole reference axis thereafter and detects the signal that finishes; The second current-order generating means is used to export the low-frequency alternating current-order of a constant amplitude; The current-order switching device shifter is used for being switched between the current-order by the output of the second current-order generating means by instruction of the first current-order generating means output current and output in output; Magnetic pole detects command generating device, be used for after permagnetic synchronous motor energized voltage but be given in starting stage before the instruction that runs well, start the second current-order generating means, and said current-order switching device switched to the said second current-order generating means, and when magnetic pole reference axis detection finishing signal is output, said current-order switching device is switched to the said first current-order generating means; Current sensing means, be used to detect the electric current of exporting to permagnetic synchronous motor by inverter, current control device, the current-order that provides with said current-order switching device and the electric current of said inverter is implemented control from the detected signal of said current sensing means.
According to the present invention, introduced another kind of device, have speed control loop and current controlled circuit, be used for control: permagnetic synchronous motor, its rotor is realized driving as magnetic pole with permanent magnet; The angular range detector, be installed on the permagnetic synchronous motor rotatable shaft, and have A mutually and B mutually the pulse train generating means be used for producing several A phase and B pulse mutually at each rotation period, 90 ° of the phase phasic differences each other of its electrical degree, and the home pulse sequence generating device that is used for producing a home pulse at each rotation period.Assembling angular range detector is when reaching the predetermined angle of stator for the magnetic pole reference axis at rotor, to export a home pulse.Said device comprises:
A main circuit and a control circuit;
Said main circuit comprises: a transducer is used for alternating current is transformed into direct current and exports this direct current; A flat wave capacitor device is used for the output DC stream of transducer is carried out smoothing processing; An inverter is used to encourage permagnetic synchronous motor;
Said control circuit comprises: speed detector, be used for to be rate signal from the signal transformation of said angular range detector and to export this rate signal, speed control unit according to said rate signal and speed command, is implemented control to the speed of permagnetic synchronous motor; The angle signal checkout gear, be used to generate an angular displacement signal that is used for current-order, this angular displacement signal be by when a home pulse from the angular range detector is output with the position of this home pulse as the magnetic pole reference axis utilization of rotor to A mutually and B mutually pulse be synchronized with the counting gained count value that rotor rotates and form; The angle command generating device, the rate signal that the angle that is used to generate the low frequency angular displacement signal and represent angular displacement signal in each presets the unit interval changes; Angle command switch device is used for switching between the angular displacement signal that output is exported by said angle command generating device by the angular displacement signal and the output of said angle signal checkout gear output; The speed command switching device is used for switching between speed command that one of output offers said device and the speed command of output by the output of said angle command generating device; Magnetic pole reference axis checkout gear is used to export the magnetic pole reference axis and detects the signal that finishes, and when the home pulse that detects from said angular range detector, export one and angular displacement signal is reset to zero reset signal to the angle signal checkout gear; Magnetic pole detects command generating device, be used for after permagnetic synchronous motor energized voltage but be not given starting stage of normal running instruction as yet, said angle command switch device and said speed command switching device are switched to said angle command generating device, and after said magnetic pole reference axis detection finishing signal is output, respectively said angle command switch device and said speed command switching device are switched to angle signal checkout gear and the speed command that is provided for said device; The current-order generating means, the angular displacement signal that the current amplitude signal that provided by said speed control unit and said angle command switch device are provided to be provided generates a current-order; Current sensing means is implemented to detect to the electric current that is outputed to permagnetic synchronous motor by said inverter; And current control device, be used for the electric current of said inverter being regulated according to from the current-order of said current-order generating means with from the detected signal of said current sensing means.
The accompanying drawing summary
Fig. 1 is the front view of permagnetic synchronous motor, and an encoder and a magnetic pole detector are installed on it;
Fig. 2 is the block diagram that is used to control the conventional motors control device of permagnetic synchronous motor;
Fig. 3 is the permagnetic synchronous motor system block diagram based on first embodiment of the invention;
Fig. 4 is the sequential chart of signal based on the permagnetic synchronous motor system running of first embodiment;
Fig. 5 is the permagnetic synchronous motor system block diagram based on the present invention's second cover embodiment;
Fig. 6 is the sequential chart of signal based on the permagnetic synchronous motor system of the second cover embodiment.
The invention preferred forms
With reference to figure 3 and Fig. 4, the present invention's first cover embodiment is described below:
As shown in Figure 3, permagnetic synchronous motor 200, an encoder 300 and a motor control assembly 100B have constituted the permagnetic synchronous motor system together.
The control circuit 120B of motor control assembly 100B is different from the control circuit 120A of conventional motors control device 100A shown in Figure 2.Especially, control circuit 120B replaces angle signal detector 123A with an angle signal generator 123B, be used to generate an angular displacement signal that is used for current-order, this angular displacement signal when home pulse of encoder 300 output with the position of this home pulse as the magnetic pole reference axis, utilize to A mutually and B mutually pulse be synchronized with the counting gained count value generation of rotor rotation.Control circuit 120B also comprises: a current command generator 128 is used to produce the low-frequency alternating current-order of a constant amplitude; A current-order switch 129 is used to export from the current command signal of current command generator 124B or from the current command signal of current-order generating means 128; A power voltage detecter 140 is used to detect supply voltage to the situation that applies of motor control assembly 100B and export a voltage and apply signal; A magnetic pole reference axis detects command generator 127, be used for the voltage that the starting stage before permagnetic synchronous motor 200 begins to run well receives from power voltage detecter 140 and apply signal and an operational order, according to by presetting the command generator of operating current at the beginning 128 of selecting the selected above-mentioned signal of parameter, and current-order switch 129 is switched to current command generator 128, and when being provided to when the magnetic pole reference axis detection of current command generator 124B finishes signal, current-order switch 129 to be switched to current command generator 124B.When current command generator 128 generations have the current-order of constant amplitude, it also has delay feature, be used for when motor control assembly be energized when detecting magnetic pole current-order postponed until the current amplitude that the amplitude of current-order is determined with time per unit gather way be increased to said constant amplitude till.
Running with reference to figure 4, the first embodiments is described below.
After t1 was added to motor control assembly 100B constantly, the supply voltage of 140 couples of motor control assembly 100B of power voltage detecter applied situation and detects, and output voltage applies signal at supply voltage.In starting stage before permagnetic synchronous motor 200 begins to run well, magnetic pole detection command generator 127 or reception are from the voltage connection signal or the reception operational order of power voltage detecter 140, looking to preset selects parameter selected, export a magnetic pole constantly at t2 and detect instruction, and current-order switch 129 is switched to current command generator 128, enter the magnetic polarity orientation detecting pattern.Like this, current-order isolates from the speed control loop that comprises current command generator 124, and the low-frequency alternating current-order of the constant amplitude that is produced by current command generator 128 is applied in to current controller 126.Current controller 126 uses a current control loop that reaches permagnetic synchronous motor 200 to come control inverter 113 so that a low-frequency alternating electric current is offered permagnetic synchronous motor 200, so that make permagnetic synchronous motor 200 rotations thus.During magnetic pole reference axis detecting operation is carried out in the rotation of permagnetic synchronous motor 200, if magnetic pole reference axis detector 130 detects a home pulse from encoder 300 constantly at t3, magnetic pole reference axis detector 130 promptly can detect command generator 127 to magnetic pole and send magnetic inspection reference axis detection a finishing signal so.Simultaneously, magnetic pole reference axis detector 130 goes out a reset signal to angle signal generator 123B, and angular displacement signal is reset to zero.Receive the magnetic pole reference axis from magnetic pole reference axis detector 130 and detect when finishing signal when magnetic pole detects command generator 127, magnetic pole detects command generator 127 current-order switch 129 is switched to current command generator 124.Like this, motor control assembly 100B just switches to the normal speed control model with magnetic pole reference axis detecting pattern, makes permagnetic synchronous motor running under normal speed control.
In order to improve the accuracy of detection of magnetic pole reference axis, effective measures comprise, will be from the direction of rotation of the low-frequency alternating electric current of current command generator 128 oppositely or detect a plurality of home pulses.Even if when motor control assembly 100B is just providing alternating current with excitation permagnetic synchronous motor 200, also can detect the position of correcting the magnetic pole reference axis from the home pulse of encoder 300 constantly equally effectively, and then improve the accuracy of detection of magnetic pole reference axis at t5.
With reference to figure 5 and Fig. 6, second embodiment of the present invention is described below.
As shown in Figure 5, permagnetic synchronous motor 200, an encoder 300 and a motor control assembly 100C have constituted the permagnetic synchronous motor system together.
Motor control assembly 100C comprises that a main circuit 100 and a control circuit 120C are used to encourage permagnetic synchronous motor 200.The same with tradition, according to the angular displacement of permagnetic synchronous motor 200, in each rotation period, the A that encoder 300 produces 90 ° of phase phasic differences each other mutually with B pulse and a home pulse mutually.As the situation of the first cover embodiment, equip encoder 300 like this, when the rotor magnetic pole reference axis of establishing with box lunch reached the predetermined angle of stator, encoder was exportable home pulse.
The control circuit 120C of motor control assembly 100C is different from the control circuit 120A of conventional motors control device 100A shown in Figure 2.Especially, control circuit 120C has an angle signal generator 123B, replaced angle signal detector 123A, be used to generate an angular displacement signal that is used for current-order, this angular displacement signal when home pulse of encoder 300 output with the position of this home pulse as the magnetic pole reference axis, utilize to A mutually and B mutually pulse be synchronized with the counting gained count value generation of rotor rotation.Control circuit 120C also comprises: a power voltage detecter 140, and the supply voltage that is used to detect motor control assembly 100C applies situation and exports a voltage and applies signal; Magnetic pole detects command generator 131, is used for receiving in the starting stage before permagnetic synchronous motor runs well voltage from power voltage detecter 140 and applies signal and receive an operational order and according to selecting switching signal of one of selected above-mentioned signal of parameter output to be used for switching by presetting between angle instruction and speed command; An angle command generator 132, the rate signal SI that the angle that is used to produce low frequency angular displacement signal AI and representing angular displacement signal AI time per unit changes; An angle command switch 134, the output signal that is used for detecting command generator 131 according to magnetic pole is switched between from the angular displacement signal of angle signal generator 123B and the angular displacement signal AI from angle command generator 132; A speed command switch 133 is used for switching between speed command SS and rate signal SI according to the output signal that detects command generator 131 from magnetic pole; And magnetic pole starting point detector 130 is used to detect the home pulse signal from encoder 300.
Running with reference to figure 6, the second cover embodiments is described below.
After t1 was added to motor control assembly 100C constantly, the situation that 140 pairs of supply voltages of power voltage detecter are applied to motor control assembly 100C detected, and output voltage applies signal at supply voltage.In starting stage before permagnetic synchronous motor 200 begins to run well, according to presetting the selection parameter, 131 selective receptions of magnetic pole detection command generator apply signal or receive operational order from the voltage of power voltage detecter 140, give angle command switch 134 and speed command switch 133 at t2 moment output order.Thus, select low frequency angular displacement signal AI and the rate signal SI that produces by angle command generator 132 for use.Motor control assembly 100C is synchronous with the output signal that detects command generator 131 from magnetic pole, and speed control 122 and current controller 126 are implemented control.Current controller 126 provides drive signal to inverter 113 such as the such power supply apparatus of IGBT (insulated gate bipolar transistor), and operation inverter 113 is so that provide electric energy to permagnetic synchronous motor thus.
Owing to when starting permagnetic synchronous motor 200, the position of rotor magnetic pole reference axis is not detected, the startup of permagnetic synchronous motor 200 has utilized low frequency angular displacement signal AI and the rate signal SI that is produced by angle command generator 132.Especially, the current-order frequency component that is applied to current command generator 124C is the low frequency angular displacement signal AI that is produced by angle command generator 132, and the range weight of current-order is the output signal of speed control 122, and the output signal SR of speed detector 121 and speed command SS all are provided for speed control 122.According to the low-frequency alternating current-order that is produced by current command generator 124C, the current control loop that current controller 126 one of operation are used for inverter 113 provides a low-frequency alternating electric current to permagnetic synchronous motor 200, so that encoder 300 rotations.
If magnetic pole reference axis detector 130 detects a home pulse from encoder 300 constantly in t3 during permagnetic synchronous motor 200 rotations, then magnetic pole reference axis detector 130 detects command generator 131 to magnetic pole and sends magnetic pole reference axis detection a finishing signal.Simultaneously, magnetic pole reference axis detector 130 sends a reset signal to angle signal generator 123B, and angular displacement signal is reset to zero.As the response that the magnetic pole reference axis is detected the signal that finishes, magnetic pole detects command generator 131 immediately to angle command switch 134 and speed command switch 133 output orders, so that thus output signal and speed command SS from angle signal detector 123B are selected.T3 is after the moment, an angular displacement signal that is used for current-order is used to the instruction of speed control 122 is switched to speed command SS, this angular displacement signal be by use to A mutually and B mutually the pulse counting gained count value that is synchronized with the rotor rotation produce by angle signal generator 123B, under speed control mode according to magnetic pole detection signal startup permagnetic synchronous motor 200.
For improving the accuracy of detection of magnetic pole reference axis, effective measures comprise, in certain period of rising in the moment of entry into service permagnetic synchronous motor 200, provide a direct current with any angle, and after this start permagnetic synchronous motor 200 according to angle signal from angle command generator 132, perhaps, detect a plurality of home pulses constantly at as shown in Figure 6 t3, t4, t5 respectively.Even when motor control assembly 100C is just providing alternating current with excitation permagnetic synchronous motor 200, magnetic pole detector 130 also can detect home pulse from encoder 300 equally effectively and be used to detect the magnetic pole reference axis, be applied to the start position of the angle instruction of angle signal detector 123B with correction, thereby improve the accuracy of detection of magnetic pole reference axis.
Claims (11)
1. method that starts permagnetic synchronous motor in the permagnetic synchronous motor system, this permagnetic synchronous motor system comprises: permagnetic synchronous motor, its rotor is realized driving as magnetic pole with permanent magnet; The angular range detector, be installed on the permagnetic synchronous motor rotatable shaft, and have A mutually and B mutually the pulse train generating means be used for producing several A phase and B pulse mutually at each rotation period, 90 ° of the phase phasic differences each other of its electrical degree, and be used for the home pulse sequence generating device that each rotation period produces a home pulse; And motor control assembly, have speed control loop and current controlled circuit, be used to encourage permagnetic synchronous motor; Said method may further comprise the steps:
Mounting strap has the said angular range detector of said home pulse sequence generating device, and the magnetic pole reference axis of rotor permanent magnet is coincide mutually with the position that home pulse produces;
Behind the energized voltage, in starting stage before permagnetic synchronous motor runs well, low-frequency alternating current-order by a constant amplitude to said current controlled circuit implementation and operation so that a low-frequency alternating electric current is offered permagnetic synchronous motor so that the rotor that makes permagnetic synchronous motor thus by static with low speed rotation; And
Detect the arrival of home pulse at magnetic pole reference axis place, and utilize detecting home pulse after to A mutually with B mutually pulse be synchronized with the angular displacement of the count value detection rotor magnetic pole of the counting gained that rotor rotates.
2. the process of claim 1 wherein that said rotor begins rotation in the starting stage in response to applying of AC power.
3. the process of claim 1 wherein that said rotor begins rotation in the starting stage in response to an external command signal.
4. the process of claim 1 wherein said rotor the starting stage a direction or reversibly in the opposite direction begin the rotation, said home pulse is by repeated detection.
5. the process of claim 1 wherein, home pulse is detected detecting the position of magnetic pole reference axis, thereby correct the angular displacement of rotor magnetic pole, even if after detecting start position, also be like this during the normal rotation of rotor.
6. method that is enabled in permagnetic synchronous motor in the permagnetic synchronous motor system, this permagnetic synchronous motor system comprises: permagnetic synchronous motor, its rotor is realized driving as magnetic pole with permanent magnet; The angular range detector, be installed on the permagnetic synchronous motor rotatable shaft, and have A mutually and B mutually the pulse train generating means be used for producing several A phase and B pulse mutually at each rotation period, 90 ° of the phase phasic differences each other of its electrical degree, and be used for the home pulse sequence generating device that each rotation period produces a home pulse; And motor control assembly, have speed control loop and current controlled circuit and be used to encourage permagnetic synchronous motor; Said method may further comprise the steps:
Mounting strap has the said angular range detector of said home pulse sequence generating device, so that the magnetic pole reference axis of rotor permanent magnet coincide mutually with the position that home pulse produces;
Behind the energized voltage, in starting stage before permagnetic synchronous motor runs well, for making the permagnetic synchronous motor entry into service, the angular displacement signal that will be used for current-order in each presets the unit interval offers the current-order loop with predetermined angle, with representing said each preset rate signal that the unit interval interior angle changes as the instruction that is used for speed control to the speed control circuit implementation and operation, so that thus the amplitude of said current-order is controlled, make said motor control assembly provide a low-frequency alternating electric current to permagnetic synchronous motor so that and then the rotor that makes permagnetic synchronous motor by static with low speed rotation; And
Detect the arrival of home pulse at magnetic pole reference axis place, the angular displacement signal that will be used for said current-order converts an angular displacement signal that is used for a current-order to, the angular displacement signal in back utilize with the position of this home pulse as starting point to A mutually and B mutually pulse be synchronized with the counting gained count value that rotor rotates and produce, and the instruction that will be used for speed control switches to a predetermined speed instruction, so that thus to the permagnetic synchronous motor implementation and operation.
7. the method for claim 6, wherein said rotor begins rotation in the starting stage in response to applying of AC power.
8. the method for claim 6, wherein said rotor begins rotation in the starting stage in response to an extra order signal.
9. the method for claim 6, wherein, provide a direct current with any angle in one period preset time of rising in the moment that begins to detect the magnetic pole reference axis, after this, provide a low-frequency alternating electric current to permagnetic synchronous motor according to angular displacement signal, and permagnetic synchronous motor steadily rotate till a home pulse that detects from the Angular Displacement Detecting device from angle signal generator in the permagnetic synchronous motor.
10. device that has a speed control loop and a current controlled circuit is used for control: permagnetic synchronous motor, and its rotor is realized driving as magnetic pole with permanent magnet; With an angular range detector, be installed on the rotatable shaft of permagnetic synchronous motor, and have A mutually and B mutually the pulse train generating means be used for each rotation period and produce several A phase and B pulse mutually, 90 ° of the phase phasic differences each other of its electrical degree, and be used for the home pulse sequence generating device that each rotation period produces a home pulse; Equipment angular range detector is for home pulse of output when the rotor magnetic pole reference axis reaches the predetermined angle of stator; Said device comprises:
A main circuit and a control circuit.
Said main circuit comprises: a transducer is used for alternating current is transformed into direct current and exports this direct current; A flat wave capacitor device is used for the output DC stream of transducer is carried out smoothing processing; And an inverter, be used to encourage permagnetic synchronous motor;
Said control circuit comprises: speed detector, and to be used for the signal transformation from said angular range detector be rate signal and export this rate signal; Speed control unit is used for according to said rate signal and a speed command speed of permagnetic synchronous motor being implemented control; The angle signal checkout gear, be used for producing the angular displacement signal that is used for current-order, this angular displacement signal utilize when home pulse is output with this from the position of the home pulse of angular range detector as the magnetic pole reference axis of rotor to A mutually and B be synchronized with the counting gained count value that rotor rotates mutually and produce; The first current-order generating means, the output signal that output signal that provides according to said speed device and angle signal checkout gear provide generates a current-order, after this when in the permagnetic synchronous motor rotary course, detecting home pulse, utilize thereafter to A mutually and B mutually pulse be synchronized with the counting gained count value that rotor rotates, angular displacement to the permanent-magnetic synchronous motor rotor magnetic pole detects, and exports a magnetic pole reference axis subsequently and detect the signal that finishes; The second current-order generating means is used to export the low-frequency alternating current-order of a constant amplitude; The current-order switching device is used for switching between the current-order that output is exported by the second current-order generating means by the current-order and the output of the output of the first current-order generating means; Magnetic pole detects command generating device, be used for after permagnetic synchronous motor energized voltage but be given in starting stage before the instruction that runs well, start the second current-order generating means and said current-order switching device is switched to the said second current-order generating means, and after said magnetic pole reference axis detection finishing signal is output, said current-order switching device is switched to the said first current-order generating means; Current sensing means is used to detect the electric current that said inverter is exported to permagnetic synchronous motor; And current control device, be used for the electric current of said inverter being implemented control by the current-order that provides by said current-order switching device with by the detected signal that said current sensing means provides.
11. a device that comprises a speed control loop and a current controlled circuit is used for control: permagnetic synchronous motor, its rotor is realized driving as magnetic pole with permanent magnet; With an angular range detector, be installed on the rotatable shaft of permagnetic synchronous motor, and have A mutually and B mutually pulse generating unit be used for producing several A phase and B pulse mutually at each rotation period, 90 ° of the phase phasic differences each other of its electrical degree, and be used for the home pulse sequence generating device that each rotation period produces a home pulse; Equipment angular range detector is for home pulse of output when the rotor magnetic pole reference axis reaches the predetermined angle of stator; Said device comprises:
A main circuit and a control circuit;
Said main circuit comprises: a transducer is used for alternating current is transformed into direct current and exports this direct current; A flat wave capacitor device is used for this output DC stream of transducer is carried out smoothing processing; An inverter is used to encourage permagnetic synchronous motor.
Said control circuit comprises: speed detector, and to be used for the signal transformation from said angular range detector be rate signal and export this rate signal; Speed control unit is implemented control according to said rate signal and a speed command to the speed of permagnetic synchronous motor; The angle signal checkout gear, be used to generate a angular displacement signal as current-order, this angular displacement signal utilization when the home pulse from the angular range detector is output with its position as the magnetic pole reference axis of rotor to A mutually with B mutually pulse be synchronized with that the resulting count value of counting that rotor rotates makes; The angle command generating device is used to produce a low frequency angular displacement signal and a rate signal of representing this angular displacement signal angle variation in each presets the unit interval; Angle command switch device is used for switching between the angular displacement signal that output is exported by said angle command generating device by the angular displacement signal and the output of said angle signal checkout gear output; The speed command switching device is used for offering between speed command of said device and the speed command of output from said angle command generating device in output and switches; Magnetic pole reference axis checkout gear is used for exporting a magnetic pole reference axis and detecting the signal that finishes, and to reset signal of said angle signal checkout gear output angular displacement signal is reset to zero when the home pulse that detects from said angular range detector; Magnetic pole detects command generating device, be used at permagnetic synchronous motor by after bestowing supply voltage but be given in the starting stage before the instruction that runs well, said angle command device and said speed command switching device are switched to said angle command generating device, and when magnetic pole reference axis detection finishing signal is output, said angle command switch device and said speed command switching device are switched to said angle signal checkout gear and the angular displacement signal that offers said device respectively; The current-order generating means, the angular displacement signal that the current amplitude signal that provides according to said speed control unit and said angle command switch device are provided to be provided produces a current-order; Current sensing means is used for the electric current that is outputed to permagnetic synchronous motor by said inverter is detected; And current control device, according to said inverter being implemented control from the current-order of current-order generating means with from the detected signal of said current sensing means.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1132295 | 1995-01-27 | ||
| JP011322/95 | 1995-01-27 | ||
| JP011322/1995 | 1995-01-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1148448A true CN1148448A (en) | 1997-04-23 |
| CN1054715C CN1054715C (en) | 2000-07-19 |
Family
ID=11774799
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN96190170A Expired - Fee Related CN1054715C (en) | 1995-01-27 | 1996-01-26 | Method for starting permanent magnet synchronous motor with rotational position detector, and motor controller |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US5801509A (en) |
| EP (1) | EP0753933B1 (en) |
| JP (1) | JP3385617B2 (en) |
| KR (1) | KR100349871B1 (en) |
| CN (1) | CN1054715C (en) |
| DE (1) | DE69612146T2 (en) |
| TW (1) | TW289879B (en) |
| WO (1) | WO1996023348A1 (en) |
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- 1996-01-26 DE DE69612146T patent/DE69612146T2/en not_active Expired - Fee Related
- 1996-01-26 US US08/714,078 patent/US5801509A/en not_active Expired - Lifetime
- 1996-01-26 KR KR1019960705366A patent/KR100349871B1/en not_active IP Right Cessation
- 1996-01-26 WO PCT/JP1996/000144 patent/WO1996023348A1/en active IP Right Grant
- 1996-01-26 JP JP52277996A patent/JP3385617B2/en not_active Expired - Fee Related
- 1996-01-26 CN CN96190170A patent/CN1054715C/en not_active Expired - Fee Related
- 1996-02-01 TW TW085101257A patent/TW289879B/zh active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104137414A (en) * | 2012-02-24 | 2014-11-05 | 株式会社安川电机 | Motor control apparatus |
| US9342057B2 (en) | 2012-02-24 | 2016-05-17 | Kabushiki Kaisha Yaskawa Denki | Motor control apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| WO1996023348A1 (en) | 1996-08-01 |
| CN1054715C (en) | 2000-07-19 |
| EP0753933A4 (en) | 1998-03-25 |
| EP0753933B1 (en) | 2001-03-21 |
| KR100349871B1 (en) | 2002-12-26 |
| JP3385617B2 (en) | 2003-03-10 |
| EP0753933A1 (en) | 1997-01-15 |
| US5801509A (en) | 1998-09-01 |
| TW289879B (en) | 1996-11-01 |
| KR970702611A (en) | 1997-05-13 |
| DE69612146T2 (en) | 2001-08-16 |
| DE69612146D1 (en) | 2001-04-26 |
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